Modified button pushes to be probabilities

play.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python
 
 from BaseHTTPServer import BaseHTTPRequestHandler, HTTPServer
-from utils import take_screenshot, prepare_image
+from utils import take_screenshot, prepare_image, convert_to_probability
 from utils import XboxController
 import tensorflow as tf
 import model
 from termcolor import cprint
+import numpy as np
 
 PORT_NUMBER = 8082
 
@@ -27,7 +28,6 @@ def log_message(self, format, *args):
 
     def do_GET(self):
 
-        ### determine manual override
         manual_override = real_controller.manual_override()
 
         if (not manual_override):
@@ -39,6 +39,19 @@ def do_GET(self):
             ## Think
             joystick = model.y.eval(feed_dict={model.x: [vec], model.keep_prob: 1.0})[0]
 
+            ### Pre-process the controls
+            joystick[0] = max(min(joystick[0], 1), -1)
+
+            #### Convert button pushes to 'probabilities' then sample 0/1
+            p2 = convert_to_probability(joystick[2])
+            joystick[2] = np.random.choice(a = [0,1], p = [1-p2, p2])
+
+            p3 = convert_to_probability(joystick[3])
+            joystick[3] = np.random.choice(a = [0,1], p = [1-p3, p3])
+
+            p4 = convert_to_probability(joystick[4])
+            joystick[4] = np.random.choice(a = [0,1], p = [1-p4, p4])
+
         else:
             joystick = real_controller.read()
             joystick[1] *= -1 # flip y (this is in the config when it runs normally)
@@ -50,9 +63,9 @@ def do_GET(self):
         output = [
             int(joystick[0] * 80),
             int(joystick[1] * 80),
-            int(round(joystick[2])),
-            int(round(joystick[3])),
-            int(round(joystick[4])),
+            int(joystick[2]),
+            int(joystick[3]),
+            int(joystick[4])
         ]
 
         ### print to console

utils.py

@@ -21,6 +21,11 @@
 
 
 
+def convert_to_probability(val):
+    p = max(min(val, 1), 0)
+    return(p)
+
+
 def take_screenshot():
     screen = wx.ScreenDC()
     bmp = wx.Bitmap(Screenshot.SRC_W, Screenshot.SRC_H)